fcecd930d3
[untested] Turn on brake relays in BRAKE state Also wait certain time for relays to switch before shorting the driver Add config option for brake relay pin Initialize pin in constructor
95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
#include "config.hpp"
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//===================================
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//======= motor configuration =======
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//===================================
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_4,
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.gpio_b = GPIO_NUM_16,
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.gpio_brakeRelay = GPIO_NUM_5, //power mosfet 2
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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.bEnabledPinState = false,
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//--- configure right motor (hardware) ---
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single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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.gpio_b = GPIO_NUM_15,
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.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pin inverted (mosfet)
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.bEnabledPinState = true, //-> not inverted (direct)
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.resolution = LEDC_TIMER_11_BIT,
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.pwmFreq = 10000
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};
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//TODO add motor name string -> then use as log tag?
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//--- configure left motor (contol) ---
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motorctl_config_t configMotorControlLeft = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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<<<<<<< Updated upstream
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.currentLimitEnabled = true,
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.currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
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=======
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.currentLimitEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_6, //GPIO34
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>>>>>>> Stashed changes
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 900 //minimum time motor is off between direction change
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};
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//--- configure right motor (contol) ---
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motorctl_config_t configMotorControlRight = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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<<<<<<< Updated upstream
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.currentLimitEnabled = true,
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.currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
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=======
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.currentLimitEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
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>>>>>>> Stashed changes
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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.deadTimeMs = 900 //minimum time motor is off between direction change
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};
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//============================
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//=== configure fan contol ===
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//============================
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fan_config_t configCooling = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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.minOnMs = 1500,
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.minOffMs = 3000,
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.turnOffDelayMs = 5000,
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};
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//=================================
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//===== create global objects =====
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//=================================
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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//create controlled motor instances (motorctl.hpp)
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controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
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controlledMotor motorRight(configDriverRight, configMotorControlRight);
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//create buzzer object on pin 12 with gap between queued events of 100ms
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buzzer_t buzzer(GPIO_NUM_12, 100);
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